KR101944952B1 - An unmanned aerial vehicle detecting fire - Google Patents

Abstract

The present invention relates to an unmanned aerial vehicle (UAV) with a fire detection function, which automatically detects fire occurring on the ground in real-time to transmit information about a fire location and range to a main server. According to the present invention, the UAV with a fire detection function comprises a flying object (100) having a flying device (130) of a flying control function formed therein and a camera apparatus (200). The camera apparatus (200) comprises: a camera (230, 230′, 230′, hereinafter, referred to as 230) collecting a photographed image including a real image and a thermal image through ground photographing, and installed in the flying object (100); a location checking module (250) to check GPS coordinates; an image analysis module (260) analyzing the photographed image to search for a target image having a set color, movement, and heating temperature, and linking the GPS coordinates of the target image with the photographed image to generate image information; a navigation control module (240) to generate a flying value for navigation of the flying object (100) in accordance with flying course information; and a flying module (220) to control the flying device (130) in accordance with the flying value.

Description

AN UNMANNED AERIAL VEHICLE DETECTING FIRE "

The present invention relates to an unattended airplane of a fire detection function for automatically detecting a fire occurring on the ground in real time and transmitting information about a fire position and a range to a main server.

In mountains and islands where human traffic is difficult, fires can occur due to accidents or spontaneous fires.

However, when a person recognizes a fire in such a place, since the fire has already spread to the surrounding area, it is not easy to suppress the fire, and the economic loss is also large. Moreover, in places where it is difficult to recognize the initial fire, most of the places are lush with easy-to-ignite vegetation.

Of course, in order to solve the above-mentioned problem, an alarm system technology has been developed in which fire detection sensors are installed in various places in the mountains to warn the fire early.

However, in order to implement such a conventional technology, it has been necessary to install a large number of fire detection sensors in various places in the mountains, and there has been an economic burden of manufacturing a large number of fire detection sensors.

Thereafter, a technique for detecting the occurrence of a fire using an unmanned airplane was developed.

However, this conventional technology has a problem that the manager has to recognize the fire by checking the shot image transmitted by the unmanned airplane, and there is an inaccuracy that the manager may not visually recognize the occurrence of the fire.

In addition, since the manager has to grasp the position of the fire on the basis of the image image sent by the unmanned airplane, the conventional art takes a long time to grasp the location of the fire.

Prior Art Document 1. Patent Registration No. 10-1566341 (Announced 2015.11.05)

Accordingly, the present invention was invented to solve the above-mentioned problems, and it is an object of the present invention to provide a method and apparatus for detecting a wide area by using a plurality of cameras in real time without distinction of day and night, A problem to be solved is to provide a unmanned aircraft with a fire detection function.

According to an aspect of the present invention,

An aircraft having a flight control aircraft, and

A camera installed on an airplane to collect photographed images of a real image and a thermal image through ground photographing; A location confirmation module for confirming GPS coordinates; An image analysis module for analyzing the captured image to search for a target image having a specified color, a movement and a heat generation temperature, and linking the GPS coordinates of the target image to the captured image to generate image information; A flight control module for generating a flight value for flight of the aircraft according to flight route information; A flight module for controlling the aircraft according to the flight value;

Which is a fire detection function.

According to the present invention, a large number of cameras can be used to detect a wide area in real time without distinction of day and night, and to detect an ignition, and the ignition position is also tracked by itself and notified to the manager.

FIG. 1 is an image showing a state of an unmanned aerial vehicle according to the present invention,
FIG. 2 is a block diagram illustrating the configuration of an unmanned aerial vehicle according to the present invention,
FIG. 3 is a front view of a central camera and a first and second side cameras of an unmanned aerial vehicle according to the present invention,
4 is a view showing a state in which GPS coordinates are applied to an image captured and collected by the center camera and the first and second side cameras,
FIG. 5 is a flowchart sequentially showing the operation of the UAV according to the present invention,
FIG. 6 is a schematic view of the ground recognized by the unmanned airplane according to the present invention as a fire during flight, and FIG.
FIG. 7 is an image showing a state where fire is recognized by a thermal imaging unit, each of which is comprised of a central camera and a first and a second side camera of the UAV according to the present invention,
FIG. 8 is a view schematically showing a state where an unmanned airplane according to the present invention is swung around a point recognized as a fire, and FIG.
FIG. 9 is a perspective view showing the internal structure of the center camera and the first and second side cameras according to the present invention,
10 is a bottom view schematically showing the operation of the center camera and the first and second side cameras according to the present invention,
11 is a cross-sectional view illustrating a cushioning operation of the center camera and the first and second side cameras according to the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other features and advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings, There will be. The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 2 is a block diagram showing the configuration of an unmanned airplane of the unmanned airplane according to the present invention. FIG. 3 is a block diagram of the unmanned airplane according to the present invention, FIG. 4 is a view showing a front view of the center camera and the first and second side cameras taken by an aircraft, FIG.

The unmanned aerial vehicle according to the present embodiment includes an air vehicle 100 composed of a main body 110 and wings 120 and 120 'and an aviation device 130, And a camera device 200 that sends image information to the main server 300 and notifies the user.

Here, the aviation equipment 130 of the aviation airframe 100 may include a general driving engine (including an electric motor) for flight of the UAV, an accelerometer and a leveling system for grasping the attitude and position of the steerer and other aviation .

Since the main body 110 and the blades 120 and 120 'of the UAV are well known in the art, further description is omitted here.

Subsequently, the camera device 200 of the present embodiment includes a central camera 230 for photographing a direct-down room; And a first side camera 230 'and a second side camera 230' for photographing the left and right and lower sides of the air vehicle 100. The main camera 230 includes a main body 230, The first and second side cameras 230 'and 230' are installed on the wings 120 and 120 'of the air vehicle 100 for photographing the left and right sides of the main body 110 Respectively. Accordingly, the central camera 230 photographs the direct and indirect room while the air vehicle 100 is in flight, and the first and second side cameras 230 'and 230 " The center camera 230 and the first and second side cameras 230 'and 230 " are arranged in a line in a panoramic shape so as to be able to photograph the center camera 230 and the first and second side cameras 230' The cameras 230 ', 230 "are arranged in a row.

Subsequently, the camera device 200 of the present embodiment includes a position confirmation module 250 for confirming GPS coordinates; The central camera 230 and the first and second side cameras 230 'and 230 "analyze the photographed images to search for a target image having a specified color and a heat temperature, An image analysis module 260 for generating image information by inputting to the image and transmitting the image information to the main server through the communication module 200a, The navigation control module 240 controls the operation of the air vehicle 100 according to the control signal of the main server 300 to the flight module 220, And the flight module 290 performs an adapter function for compatibility between the camera device 200 and the existing air vehicle 100. [

The camera device 200 according to the present embodiment includes a log module 280 for storing image information generated by the image analysis module 260, a communication module 200a for relaying communication with the main server 300, A camera steering module 290 for controlling the photographing direction of the camera 230 and the first and second side cameras 230 'and 230 ", an environment detecting module 290 for detecting environmental conditions at the time of photographing, 210).

More specifically, the image analysis module 260 analyzes the images of the photographed images captured by the central camera 230 and the first and second side cameras 230 'and 230 " If the color of the part and the heat temperature of the part thus identified are the designated reference, the target image is designated. If the target image is designated, the camera device 200 continuously captures the captured image in which the target image is located.

Also, the image analysis module 260 sets an ID for each of the target images appearing in the captured image, thereby identifying a target image.

Also, the image analysis module 260 synthesizes and inputs the corresponding GPS coordinates according to the photographing area configured in the captured image. As shown in FIG. 4 (a), the captured image captured by the central camera 230 includes The center coordinates of the first and second side cameras 230 'and 230' are generated based on the GPS coordinates of the first and second side cameras 230 'and 230' The coordinates of the coordinate system layer of the camera 230 are narrowed according to the perspective of the coordinate system, and the coordinate system layer is synthesized. In this case, the photographing altitude of the air vehicle 100 is kept constant, The image analysis module 260 calculates the distance between the center camera 230 and the first and second side cameras 230 'and 230' based on the photographing altitude and the side photographing angle, 230 ") and the GPS coordinates The captured images of the first and second side cameras 230 'and 230' are side images directed toward a specific region, so that as the distance from the air vehicle 100 is increased by perspective, Is narrowed. Therefore, only a certain range of the photographed images of the first and second side cameras 230 'and 230 "is limited to the effective zone, and the image analysis module 260 generates the image information as the photographed image of the effective zone.

Each of the central camera 230 and the first and second side cameras 230 'and 230 "includes at least one selected from a real image capture unit 232 and a thermal image capture unit 233.

Furthermore, the central camera 230 and the first and second side cameras of the present embodiment further include a driving unit 234 that controls the driving of the photographing unit 232 and the thermal imaging unit 233, respectively. In addition, the camera apparatus 200 of the present embodiment may further include a zoom photographing unit (not shown) for zooming in or zooming out a specific target.

The above-described central camera 230 and the respective constituent units 232 and 233 of the first and second side cameras are operated and controlled by a drive unit 234 controlled by the user.

Actually, the photographing unit 232 photographs a photographing region or a specific target to collect a real image, and the thermal image photographing unit 233 senses the heat emitted from the photographing object and collects it as a thermal image (see FIG. 7).

The driving unit 234 controls the driving of the real image sensing unit 232 and the thermal image sensing unit 233 in accordance with the control signal of the user.

FIG. 5 is a flowchart showing the operation of the UAV according to the present invention. FIG. 6 is a schematic view of the ground recognized by the UAV according to the present invention, FIG. 8 is a view showing a state in which a fire alarm is detected by a fire alarm detection unit according to an embodiment of the present invention; and FIG. As shown in FIG.

The unmanned airplane of this embodiment detects the presence of a fire while shooting the ground during a flight, and when a fire is detected, the fire area is continuously photographed, and the surrounding information, the diffusion range, and the confirmation direction are analyzed and guided. To this end, the unmanned aerial vehicle of this embodiment operates as follows.

S11; Flight Route Flight Phase

The unmanned airplane takes the ground while flying according to the flight route information. The flight route information is set in the aviation device 130 as flight position information, speed information, and altitude information, and the aviation device 130 controls the operation of the UAV according to the flight route information.

However, in addition to the above-described automatic flight method, the user can control the flight of the UAV by a manual operation using the main server 300.

S12; Ground shooting steps

The center camera 230 and the first and second side cameras 230 'and 230 " continuously photograph the ground and collect photographed images in this manner during the flight of the UAV. The actual image pick-up unit 232 and the thermal image pick-up unit 233 constituted respectively by the two side cameras 230 'and 230 "may simultaneously perform the ground photographing, and only the photographing unit 232, And the thermal imager 233 may photograph the ground only when necessary.

S13; Collected image analysis step

The image analysis module 260 analyzes the captured images collected by the central camera 230 and the first and second side cameras 230 'and 230 ". The captured image analysis is performed by the actual image capture unit 232, The color may be one or a combination of two or more colors, and the motion may cause the shape of the corresponding color to repeatedly shake at one point, The flame is grayish red, and the smoke is grayish color, so that the sword-red color gradually spreads from one point to the other. Repetitive shaking is produced, and the gray gradually moves along the wind direction.

For reference, the image analysis module 260 receives environmental information about the wind direction and the wind speed collected by the environment detection module 210 for the gray color movement confirmation.

7, the image analysis module 260 confirms the heat generation temperature for each position in the thermal image taken by the thermal image pickup unit 233, and confirms a point corresponding to the specified reference.

S14; Steps to check for fire

When the image analysis module 260 analyzes the photographed image and the point at which the color and the motion correspond to the specified reference and the point at which the exothermic temperature corresponds to the specified reference match, the image analysis module 260 designates the point as the target image , It is regarded that a fire has occurred at the above point and the subsequent step is carried out. If the point at which the color and motion correspond to the specified reference point and the point at which the heating temperature corresponds to the specified reference point do not match, the point is considered not to be a fire and the shooting for another region is continued. I fly along.

S15; Fire information collection phase

The image analysis module 260 confirms the GPS coordinates of the location designated as the target image by fire and confirms the GPS coordinates of the location with the location confirmation module 250. The environmental analysis module 260 receives environment information on the wind direction, And links the GPS coordinates and the environment information to the photographed image constituted by the target image, and generates the image information.

S16; Step for sending collected information

The image analysis module 260 transmits the generated image information to the main server 300 through the communication module 200a and the main server 300 outputs and analyzes the image information to confirm the user and perform subsequent operations So that it can proceed.

S17; Route change step

The image analysis module 260 transmits the image information to the navigation control module 240. The navigation control module 240 compares the current GPS coordinates confirmed by the position determination module 250 with the GPS of the target image included in the image information Creates a flight value based on the coordinates.

As described above, the unmanned airplane flew according to the flight route information input to the navigation control module 240 at a normal time. When the image analysis module 260 recognizes the occurrence of a fire on the ground, And transmits the flight value to the flight module 220. [

The flight module 220 transmits the flight value to the aviation device 130 to adjust the movement of the unmanned airplane.

Meanwhile, the navigation control module 240 generates a flight value such that the air vehicle 100 moves around the GPS coordinates of the target image as shown in FIG. Thus, the unmanned aircraft maintains a constant eddy along the perimeter around the spot recognized as a fire.

S18; Fire situation collection phase

When the camera steering module 290 receives the image information including the target image from the image analysis module 260, the central camera 230 and the first and second side cameras 230 'and 230 " And adjusts the photographing direction of the central camera 230 and the first and second side cameras 230 'and 230 "

The camera steering module 290 recognizes the direction of the fire point by comparing the GPS coordinates of the target image confirmed in the image information with the GPS coordinates of the current position of the UAV that is confirmed in real time in the position determination module 250, The altitude of the unmanned aerial vehicle is checked based on the environment information confirmed in real time from the module 210. [

The photographing direction of the center camera 230 and the first and second side cameras 230 'and 230 " are adjusted by calculating the horizontal photographing angle and the vertical photographing angle with respect to the fire point on the basis of the current position of the UAV.

When the unmanned airplane swirls, the camera steering module 290 continuously adjusts the photographing direction of the central camera 230 and the first and second side cameras 230 'and 230 "along with the movement of the UAV, The image information is transmitted to the main server 300 through the communication module 200a.

For reference, the main server 300 analyzes the image information transmitted from the unmanned airplane and confirms the location of the fire, the direction of the spread of the fire, and promptly processes the follow-up action.

FIG. 9 is a perspective view showing the internal structure of the center camera and the first and second side cameras according to the present invention in a sectional view, FIG. 10 is a view schematically showing the operation of the center camera and the first and second side cameras according to the present invention 11 is a cross-sectional view illustrating a cushioning operation of the center camera and the first and second side cameras according to the present invention.

The camera steering module 290 of the present embodiment is configured such that the central camera 230 and the first and second side cameras 230 'and 230 " The horizontal photographing angle and the vertical photographing angle of the center camera 230 and the first and second side cameras 230 'and 230' can be adjusted smoothly without complicated structure. It is a structure that can be done.

Hereinafter, a central camera 230 installed in the aircraft main body 110 among the central camera 230 and the first and second side cameras 230 'and 230' will be described as an example.

The camera steering module 290 of this embodiment includes a cylindrical body 2931 fixed to the air airframe 100 and filled with a liquid resin P in the hollow and a cylindrical body 2931 fixed to the bottom of the cylindrical body 2931 at regular intervals A case 293 composed of a floor cushion 2934 and a ceiling cushion 2933 provided on the hollow bottom and the ceiling of the cylindrical body 2931 and a case 293 formed by a circular protruding reference bracket 2932 having a plurality of nodes arranged thereon, ; A circular shaft 2911 which penetrates the bottom cushion 2933 and the cushion 2934 of the cylindrical body 2931 and the cylindrical body 2931 so as to be able to rotate and move up and down and a circular shaft 2911 coaxial with the circular shaft 2911 A supporting gear 2912 disposed on the circular shaft 2911 between the bottom cushion 2934 and the driven gear 2912 to support the driven gear 2912, A prism 2915 extending from the lower end of the prismatic shaft 2914 and rotatably connected to the center camera 230; a prism 2913 extending from the lower end of the prismatic shaft 2914; A rotary shaft 291 constituted by a rotary shaft 291; A rotation motor 294 installed on the flange 2915 to apply a rotational force to the central camera 230; A drive motor 292 installed in the hollow of the cylindrical body 2931 for applying a rotational force to the driven gear 2921 slidably engaged with the driven gear 2912 in the axial direction; A rotation sensor 295 that rotates along a reference bracket 2932 to generate rotational information by counting the nodes and rotate by receiving power of a prismatic shaft 2914 penetrated to allow upward and downward movement; A horizontal photographing angle and a vertical photographing angle with respect to the fire point are calculated based on the direction of the fire point recognized by comparing the GPS coordinates of the target image of the image information with the GPS coordinates of the current position and the current altitude confirmed in the environment information And a control unit 296 for transmitting a drive signal to the drive motor 292 and the rotation motor 294 and correcting the drive signal according to the rotation information of the rotation sensor 295.

The circular shaft 2911 and the rectangular shaft 2914 each have a hollow communicating with each other and the hollow of the rectangular shaft 2914 is opened to the lower end so that the central camera 230, the rotary motor 294, The electric wire drawn out from each of the image analysis modules 260 and 295 is drawn through the hollow through the upper opening of the circular shaft to be electrically connected to the image analysis module 260 and the control unit 296. Therefore, the circular shaft 2911 and the rectangular shaft 2914 can smoothly move up and down and rotate. The central camera 230, the rotation motor 294, and the rotation sensor 295 are connected to the first wireless communication unit and the second wireless communication unit, respectively. A second wireless communication unit for wireless communication is installed. Therefore, data wirelessly transmitted from the first wireless communication unit is received by the central camera 230 and the rotation motor 294 through the second wireless communication unit, respectively, and transmitted from the central camera 230 and the rotation sensor 295 Data is transmitted from the second wireless communication unit via radio and transmitted to the image analysis module 260 via the first wireless communication unit. Through this, the circular shaft 2911 and the rectangular shaft 2914 can continue to rotate in a certain direction. For reference, a communication system such as Bluetooth or NFC may be applied to wireless communication.

The drive motor 292 driven in accordance with the drive signal of the control unit 296 rotates the driven gear 2912 via the driven gear 2921 so that the rotation of the driven gear 2912, The central camera 230 rotates horizontally as shown in FIG. At this time, the rotation sensor 295 generates rotation information as the rotation information by counting the rotation of the reference bracket 2932, and the control unit 296 controls the rotation angle of the center camera 230 And corrects the driving signal. The control unit 296 calculates the distance between the altitude of the unmanned airplane and the fire point, and transmits a driving signal to the rotation motor 294 so that the center camera 230 can take a vertical shooting angle continuously.

A ceiling cushion 2933 and a bottom cushion 2934 are disposed in the hollow of the cylindrical body 2931 so that the driven gear 2912 moves up and down along the movement of the rotary shaft 291 to rotate the cylindrical body 2931, Thereby preventing direct collision of the two. Even if the altitude of the unmanned airplane suddenly changes, the rotation shaft 291 maintains the current position due to the above-described structure, and the central camera 230 installed at the lower end of the rotation shaft 291 can shoot the fire spot without shaking have. Furthermore, since the hollow of the cylindrical body 2931 is filled with the liquid resin P, the rotating shaft 291 is prevented from being frequently shaken or oscillated. The height of the driven gear 2921 relative to the driven gear 2912 is relatively short so that the driven gear 2921 and the driven gear 2912 can maintain the interlocked state while maintaining the vertical movement of the UAV have. To this end, the pitches of the main gear 2921 and the driven gear 2912 form a straight shape parallel to the rotational axis 291 for sliding between them.

A supporting cushion 2913 is disposed at the lower end of the driven gear 2912. The supporting cushion 2913 is installed on the rotary shaft 291 so that the supporting cushion 2913 moves up and down together with the rotary shaft 291, 2912 support the position so that it does not come in contact with the bottom cushion 2934 of the cylindrical body 2931.

The liquid resin P filled in the cylindrical body 2931 should not leak from the cylindrical body 2931 so that the ceiling cushion 2933 and the bottom cushion 2934 are configured to seal the hollow of the cylindrical body 2931 do.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (5)

An air vehicle (100) comprising flight control function aviation equipment (130): and
230 ', and 230''(hereinafter,' 230 ') installed in the air vehicle 100, collecting photographed images of a real image and a thermal image through the ground photographing, a position determination module An image analysis module 260 for analyzing the captured image to search for a target image having a specified color, a movement, and a heat generation temperature, and linking the GPS coordinates of the target image to the captured image to generate image information; A flight control module 240 for generating a flight value for flight of the air vehicle 100 according to the flight route information, a camera module 200 configured to control the flight module 220 according to the flight value, ): ≪ / RTI >
The camera device 200 may further include an environment sensing module 210 for collecting environment information including current wind direction and wind speed and highly configured environment information; The image analysis module 260 links the environment information for each shot image of the image information,
The camera device 200 further includes a camera steering module 290 for installing the camera 230 on the air vehicle 100 and adjusting the photographing direction of the camera 230 according to image information including the target image However:
The camera steering module 290 includes a cylindrical body 2931 fixed to the air airframe 100 and filled with a liquid resin P in a hollow form and a cylindrical body 2931 fixed at a predetermined interval along the circumference on the bottom surface of the cylindrical body 2931 A circular reference bracket 2932 having a plurality of nodes, a case 293 composed of a floor cushion 2934 and a ceiling cushion 2933 installed in the hollow floor and ceiling of the cylindrical body 2931, respectively; A circular shaft 2911 which penetrates the bottom cushion 2933 and the cushion 2934 of the cylindrical body 2931 and the cylindrical body 2931 so as to be able to rotate and move up and down and a circular shaft 2911 coaxial with the circular shaft 2911 A supporting gear 2912 disposed on the circular shaft 2911 between the bottom cushion 2934 and the driven gear 2912 to support the driven gear 2912, A prism 2915 extending from the lower end of the prismatic shaft 2914 and rotatably connected to the center camera 230; a prism 2913 extending from the lower end of the prismatic shaft 2914; A rotary shaft 291 constituted by a rotary shaft 291; A rotation motor 294 installed on the flange 2915 to apply a rotational force to the central camera 230; A drive motor 292 installed in the hollow of the cylindrical body 2931 for applying a rotational force to the driven gear 2921 slidably engaged with the driven gear 2912 in the axial direction; A rotation sensor 295 that rotates along a reference bracket 2932 to generate rotation information by counting the knobs, and receives rotation of a prismatic shaft 2914 penetrating through the reference bracket 2932 so as to be vertically movable; A horizontal photographing angle and a vertical photographing angle with respect to the fire point are calculated based on the direction of the fire point recognized by comparing the GPS coordinates of the target image of the image information with the GPS coordinates of the current position and the current altitude confirmed in the environment information And a control unit 296 for transmitting a drive signal to the drive motor 292 and the rotation motor 294 and correcting the drive signal according to the rotation information of the rotation sensor 295. [
A fire detection function unmanned aircraft. The method according to claim 1,
The navigation control module 240 compares the current GPS coordinates confirmed by the position determination module 250 with the GPS coordinates of the target image to calculate a flight value for allowing the air vehicle 100 to travel to the corresponding position of the target image Generating a fire detection signal; delete delete delete

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